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Full-state prescribed performance pose tracking of space proximity operations with input saturation |
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| Authors: | Jun Wang Liang Sun Jingjing Jiang |
| Affiliation: | 1. Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education, School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China Contribution: Methodology, Software, Validation;2. Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education, School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China;3. Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, UK Contribution: Supervision, Validation, Visualization |
| Abstract: | This paper investigates the relative position tracking and attitude synchronization control for spacecraft close-range proximity missions with input saturation and model uncertainties. A robust saturated relative motion controller is proposed for this purpose. Prescribed performance functions are designed to guarantee the transient and steady-state response of the system and the full-state constraints. Then, a nonlinear disturbance observer is developed to estimate the lumped disturbance that comprises the effects of parametric uncertainties and kinematic couplings. At the same time, a linear compensator system is incorporated into the controller design to deal with the control input saturation. Finally, it can be proved via the Lyapunov theory that the closed-loop system is uniformly ultimately bounded stable. Simulation results on the spacecraft close-range rendezvous and docking mission validate the effectiveness of the proposed control approach. |
| Keywords: | control input saturation full-state constraint nonlinear disturbance observer prescribed performance spacecraft control |